Autopilot setup. VRF (Virtual Rudder Feedback) calibration. Software setup NSS evo2 Installation Manual

Transcription

1 Autopilot setup Verifying the autopilot connection When an AC12N, AC42N, or SG05 is connected to the NSS evo2 system, the NSS evo2 will automatically detect the autopilot and an Autopilot menu icon will be included in the Settings menu. If no Autopilot icon is available in the menu, establish the connection by running the auto select process. If the AC12N, AC42N or SG05 is turned off independantly of the display, the Autopilot menu icon will remain available, but only a few of the menu items will be available. Commissioning the autopilot When the autopilot installation is completed, the commissioning procedures must be performed. Failure in setting up the autopilot correctly may prohibit the autopilot from functioning properly. The setup of the autopilot computers (AC12N/42N) can be done in full from compatible Simrad displays that feature AP control, an IS40 Display, or from an AP24/AP28 control head. The following sections describe how you configure the autopilot from the NSS evo2 unit. If you connect the NSS evo2 to an already commissioned autopilot system, you only have to do an automatic source selection as described above before the autopilot is ready to be used. Dockside setup Initiating the required dockside setup is done from within the Commissioning dialog. Completed procedures are labelled with a tick. When the autopilot computer is delivered from factory AND ANY TIME AFTER AN AUTOPILOT RESET HAS BEEN PERFORMED, you will have to run a complete setup again. All steps in all commissioning procedures are clearly described on-screen, and you will be guided step by step through the process. 1. Press the STBY/AUTO key to ensure that the autopilot is in standby mode 2. Activate the autopilot commissioning dialog as shown above 3. Select boat type The boat type setting is used by the system to select appropriate preset steering parameters. It will also affect available autopilot features. 4. Perform the rudder calibration Used if you have a rudder feedback unit installed. This calibration is used to ensure that the physical rudder movement corresponds to the rudder angle displayed on the NSS evo2 unit. VRF (Virtual Rudder Feedback) calibration The Virtual Feedback option enables your autopilot to steer without a conventional rudder feedback unit. This function is designed for vessels up to 40 ft. powered by outboard or stern drives only. The Virtual Feedback option will only be available when there is no feedback unit connected at first time turn on, or at turn on after an autopilot reset. Note: Installing a feedback unit will enhance the performance of the autopilot and provide an accurate rudder angle indicator on the autopilot display. Unless impractical or impossible, a rudder feedback unit should be installed. Software setup NSS evo2 Installation Manual 27

2 5. Set the drive voltage Refer to the drive unit table in the AC12N/AC42N Installation manual or to your drive unit documentation for information. 6. Run the rudder test as described in the on-screen instructions Note: If the boat uses power assisted steering, it is important that the engine or electric motor used to enable the power assist steering is turned on prior to this test. Stand CLEAR of the wheel and do not attempt to take manual control of the wheel during this test! When this test is started the autopilot computer will issue a series of PORT and STBD rudder commands and automatically verify correct rudder direction. It detects minimum power to drive the rudder and reduces the rudder speed if it exceeds the maximum preferred speed (8 /sec.) for autopilot operation. The system will also detect whether the drive unit is a reversible motor or if a solenoid valve is operated. Rudder drive setup The rudder drive setup controls how the autopilot computer controls the steering system. Drive voltage Voltage specified for your drive unit. The Drive unit voltage setting does not apply when the system operates solenoids on a continuous running pump/steering gear. Hence, the output voltage to the solenoids will be the same as the input voltage. Refer to the drive unit table in the AC12N/AC42N Installation manual or to your drive unit documentation for information.! Warning: Selection of improper voltage level for your drive unit may damage both the drive unit and the AC12N/AC42N even if the protection circuits are activated. Drive engage Clutch This is the default setting and it allows you to steer the boat with the helm or wheel when in STBY mode (FU and NFU modes) as well as in all auto steering modes Auto This option is typically used to switch between two rudder speeds on a continuous running pump, used when different rudder speeds are required for automatic and Follow-up/Non-Follow-up steering Motor output Shows the amount of power needed to achieve the correct rudder speed. The reading is obtained from the Rudder test. The automatically set value may be increased or decreased. Rudder deadband This parameter is used to prevent the rudder from hunting. The reading is obtained from the Rudder test which optimizes the deadband to the speed of the boat and the pressure on the rudder. If the auto-setting does not perform properly due to high inertia from the wheel or a loose steering gear, it can be adjusted manually. Find the lowest possible value that will prevent the 28 Software setup NSS evo2 Installation Manual

3 rudder from continuous hunting. A wide deadband will cause inaccurate steering. Note: The rudder deadband setting is not available when the autopilot is configured for Virtual Rudder Feedback. Seatrials A seatrial can only be performed if the dockside settings are completed and confirmed. The seatrial must always be performed in open waters at a safe distance from other traffic. Note: You can switch the autopilot to standby mode and take manual control of the boat at any time during the seatrial by pressing the STBY/AUTO key. The following seatrial calibration should be done: Compass calibration; used to automatically compensate for on-board magnetic interference Compass offset adjustment, used to compensate for a fixed offset in the final heading readout Wind vane offset to compensate for a wind vane that is not mounted facing in exactly the same direction as the bow of the vessel (dead ahead) Boat speed calibration Transition HI/LO speed setting (the speed at which you want to change the set of steering parameters) Automatic tuning of the steering parameters Setting the seastate filter Saiboat Setup menu items Compass calibration Before the compass calibration is started, make sure that there is enough open water around the vessel to make a full turn. The calibration should be done in calm sea conditions and with minimal wind to obtain good results. Follow the on-screen instruction, and use about seconds to make a full circle. During the calibration, the compass will measure the magnitude and direction of the local magnetic field. If the local magnetic field is stronger than the earth s magnetic field (the local field is reading more than 100 %), the compass calibration will fail If the local field is reading more than 30 %, you should look for any interfering magnetic objects and remove them, or you should move the compass to a different location. The (local) field angle will guide you to the local interfering magnetic object. Note: Calibration must be made on the compass that is active for the autopilot. If the compass is not possible to initiate calibration from the device list on the NSS evo2, refer to the compass own instructions regarding calibration. Note: In certain areas and at high latitudes the local magnetic interference becomes more significant and heading errors exceeding ±3 may have to be accepted. Compass mounting offset After compass calibration, the difference (if any) between the compass lubber line and the boat s center line should be compensated for. 1. Find the bearing from the boat position to a visible object. Use a chart or a chart plotter 2. Steer the boat so that the center line of the boat is aligned with the bearing line pointing towards the object 2. Change the offset parameter so that the bearing to the object and the compass readout becomes equal. Refer graphic above Note: Make sure that both the compass heading and the bearing to the object have the same unit ( M or T). Software setup NSS evo2 Installation Manual 29

4 Setting the Transition speed (HI/LO) This is the speed at which the system automatically changes from LO to HI steering parameters. On power boats it is recommended that you set a value that represents the speed where the hull begins to plane or the speed where you change from slow to cruising speed. On sailboats the transition speed should be set to around 3-4 knots to give the best response in a tack. A deadband of 2 knots is incorporated to prevent oscillation of HI/LO settings when vessel is travelling at the transition speed HI response 2 LO response 3 Transition to HI parameters with decreasing speed: 8kn 4 Transition speed set to 9kn 5 Transition to LO parameters with increasing speed: 10kn Active response parameter set is shown in the autopilot popup, and the following abbreviations are used: HI-A High response parameters set automatically LO-A Low response parameters set automatically HI-M High response parameters set manually LO-M Low response parameter set manually Autotuning The autotune feature will run the boat through several tests and then automatically set the most important steering parameters. Autotune is not required for the autopilot to function, as it is preset with steering parameters that should steer most boats in the foot range. You can manually adjust all parameters that are set during autotuning. Seastate filter The Seastate filter is used to reduce rudder activity and autopilot sensitivity in rough weather. OFF AUTO MANUAL Seastate filter is disabled. This is default Reduces rudder activity and autopilot sensitivity in rough weather by an adaptive process. The AUTO setting is recommended if you want to use the seastate filter Linked to the steering response control settings described previously. It may be used to manually find the optimum combination of course keeping and low rudder activity in rough but steady sea conditions Setting sailing parameters Note: Sailing parameter settings are only available if the boat type is set to Sail. 30 Software setup NSS evo2 Installation Manual

5 Tack time When performing a tack in WIND mode, the rate of turn (tack time) can be adjusted. This will give single-handed sailors time to handle the boat and the sails during a tack. A turn performed without shifting wind side, will also be made at a controlled turn rate. Range Change per step Default Units seconds Tack angle This value is used to preset the course change used when tacking in AUTO mode. By pressing the left/right arrow keys the course will change as much as this value. Range Change per step Default Units Wind function With wind function set to Auto, the autopilot will automatically select between apparent and true wind steering. Auto is default and recommended for cruising. When the boat is running or on a broad reach, there is a heightened chance it will surf on the waves. This may lead to significant changes in boat speed, and thereby changes in apparent wind angle. True wind steering is therefore used to prevent undesired corrections by the autopilot when heading downwind (or close to), while steering to apparent wind is used when beating or reaching. Apparent wind steering is preferred when you want to maintain maximum boat speed without continuous trimming of the sails. VMG optimizing You can optimize the VMG to wind. When selected the function will be active for 5 10 minutes after a new wind angle has been set and only when beating. Layline steering Layline steering is useful when navigating. Cross Track Error (XTE) from the navigator will keep the boat on the track line. If the XTE from the navigator exceeds 0.15 nm, the autopilot will calculate the layline and track towards the waypoint. Manually adjusting steering parameters The autotune function in the autopilot is so refined that the majority of boats will need no further adjustments of the steering parameters. On some boats however, or in particular sea conditions, fine tuning of the steering parameters may improve the performance of the autopilot. Transition speed Refer previous description. Rudder This parameter determines the ratio between commanded rudder and the heading error. The higher rudder value the more rudder is applied. If the value is too small it will take a long time to compensate for a heading error, and the autopilot will fail to keep a steady course. If the value is set too high the overshoot will increase and the steering will be unstable. Counter rudder Counter rudder is the amount of rudder used to try to prevent the boat from yawing around the set course. Higher counter rudder settings result in more rudder being applied. The best way of checking the value of the Counter rudder setting is when making turns. The figures illustrate the effects of various Counter Rudder settings; Software setup NSS evo2 Installation Manual 31

6 Counter rudder too low; overshoot response 2 Counter rudder too high; sluggish and creeping response 3 Correct setting or counter rudder; ideal response Auto trim This parameter defines how fast the autopilot shall correspond after having registered a heading error. The standard value is 40 seconds which should work well on most boats. Rule of thumb: Set to same value (seconds) as the boat s length in feet. On boats operating on VRF the value should be set to 20 seconds. Rate limit Sets the maximum allowed rate of turn. The value should be kept at 6.0 /second unless there is a need for more rapid response in turns. Minimum rudder This parameter filters small rudder commands to prevent high rudder activity. Some boats may have a tendency to not respond to small rudder commands around the course keeping position because of a small rudder, a rudder deadband, whirls/disturbance of the water-stream passing the rudder or it is a single nozzle water jet boat. By increasing the Minimum rudder parameter you may improve the course keeping performance on some boats. This will however increase the rudder activity. Minimum wind angle to port and starboard These parameters should be set identical to the minimum apparent wind angle that will keep the sails from stalling and maintain boat speed. The parameters will vary from boat to boat. The settings are used for the tack-prevent function. They also apply when the autopilot is operating in WindNAV mode. You can select different minimum wind angles for port and starboard. The difference between port and starboard will be taken into account when calculating the Distance To Turn (DTT). Navigation change limit This parameter defines the maximum course change that the autopilot is allowed to make when the NSS evo2 is following a route (NAV steering). If the required course change to the next waypoint in a route is more than the set limit, you are prompted and must acknowledge the course change before the autopilot will turn the vessel. 32 Software setup NSS evo2 Installation Manual